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Implement C library for UART communication with CRC16 support and stream mode
* Implement C library for UART communication with CRC16 support and streaming mode * Fix comments
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Lines changed: 289 additions & 101 deletions

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‎c/l4/CMakeLists.txt‎

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CMAKE_MINIMUM_REQUIRED(VERSION 3.22)
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add_library(module_l4_c STATIC)
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target_sources(module_l4_c
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PRIVATE
7+
src/Channel_c.c
8+
)
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target_include_directories(module_l4_c PUBLIC
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$<INSTALL_INTERFACE:include>
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$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
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)

‎c/l4/README.md‎

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# Channel_c.h
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UART communication channel configuration and CRC calculation definitions. You can redefine them.
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## `BufferSize_t`
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Type definition for buffer size. Defaults to `uint8_t` if not previously defined.
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Used to specify the maximum buffer size for UART data transmission.
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## `V2STYXLIB_CRC16_POLY`
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CRC16 polynomial value used for checksum calculation.
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Default: `0x1021` (CCITT polynomial).
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Used in the CRC16-CCITT algorithm for error detection.
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## `V2STYXLIB_CRC16_INITIAL_VALUE`
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Initial value for CRC16 calculation.
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Default: `0xFFFF`.
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Used as the starting point for CRC16 calculation.
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## `V2STYXLIB_STREAMING_MODE`
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Flag bit indicating streaming mode is enabled.
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Default: `0x01`.
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When set, UART operates in streaming mode:
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- SOF (Start of Frame) markers are sent before each data frame.
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- The sender does not wait for responses between transmissions.
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## `V2STYXLIB_SOF_MARKER_1`
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First byte of the Start of Frame (SOF) marker sequence.
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Default: `0x55`.
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Used in streaming mode to indicate the beginning of a new data frame.
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## `V2STYXLIB_SOF_MARKER_2`
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Second byte of the Start of Frame (SOF) marker sequence.
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Default: `0xAA`.
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Used with `V2STYXLIB_SOF_MARKER_1` to form the two-byte SOF marker sequence: `0x55 0xAA`.
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## `V2STYXLIB_SEND_CRC16`
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Flag bit indicating CRC16 is appended to each transmitted frame.
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Default: `0x02`.
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When set, a 2-byte CRC16 checksum (using `V2STYXLIB_CRC16_POLY` and
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`V2STYXLIB_CRC16_INITIAL_VALUE`) is added at the beggining of every frame,
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before the payload.
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This extends the frame layout by two bytes and enables end-to-end error detection.

‎c/l4/include/ChannelUartStm8.h‎

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@@ -3,35 +3,7 @@
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#include <stdint.h>
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#include "stm8s.h"
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6-
typedef uint8_t BufferSize_t;
7-
8-
#ifndef V2STYXLIB_CRC16_POLY
9-
#define V2STYXLIB_CRC16_POLY 0x1021
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#endif
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#ifndef V2STYXLIB_CRC16_INITIAL_VALUE
12-
#define V2STYXLIB_CRC16_INITIAL_VALUE 0xFFFF
13-
#endif
14-
15-
#define V2STYXLIB_STREAMING_MODE 0x01
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17-
#ifndef V2STYXLIB_SOF_MARKER_1
18-
#define V2STYXLIB_SOF_MARKER_1 0x55
19-
#define V2STYXLIB_SOF_MARKER_2 0xAA
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#endif
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typedef struct {
23-
uint8_t config;
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} V2styxlibUartConfig;
25-
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/**
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* useStreamingMode - is a boolean flag that indicates whether to use streaming mode for UART communication.
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* In streaming mode client will not wait for the response after sending a message, but will continue to send messages without blocking.
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* We will send SOF marker 0x55 0xAA (check V2STYXLIB_SOF_MARKER_xx) before each frame.
30-
*/
31-
void v2styxlib_uart_configure_proto(
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V2styxlibUartConfig *config,
33-
bool useStreamingMode
34-
);
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#include "Channel_c.h"
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/**
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* baudRateDivider - is a value that determines the data transmission speed over UART.

‎c/l4/include/Channel_c.h‎

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#pragma once
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#include <stdint.h>
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#include <stdbool.h>
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#ifndef BufferSize_t
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#define BufferSize_t uint8_t
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#endif
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#ifndef V2STYXLIB_CRC16_POLY
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#define V2STYXLIB_CRC16_POLY 0x1021
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#endif
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#ifndef V2STYXLIB_CRC16_INITIAL_VALUE
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#define V2STYXLIB_CRC16_INITIAL_VALUE 0xFFFF
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#endif
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#ifndef V2STYXLIB_STREAMING_MODE
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#define V2STYXLIB_STREAMING_MODE 0x01
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#endif
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#ifndef V2STYXLIB_SEND_CRC16
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#define V2STYXLIB_SEND_CRC16 0x02
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#endif
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#ifndef V2STYXLIB_SOF_MARKER_1
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#define V2STYXLIB_SOF_MARKER_1 0x55
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#define V2STYXLIB_SOF_MARKER_2 0xAA
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#endif
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#ifdef __cplusplus
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extern "C" {
31+
#endif
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typedef struct {
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uint8_t config;
35+
} V2styxlibUartConfig;
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/**
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* useStreamingMode - is a boolean flag that indicates whether to
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* use streaming mode for UART communication.
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* In streaming mode client will not wait for the response after
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* sending a message, but will continue to send messages without blocking.
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* We will send SOF marker 0x55 0xAA (check V2STYXLIB_SOF_MARKER_xx) before each frame.
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*
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* sendCrc16 - is a boolean flag that indicates whether to calculate and send
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* CRC16 checksum with each message.
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*/
47+
void v2styxlib_uart_configure_proto(
48+
V2styxlibUartConfig *config,
49+
bool useStreamingMode,
50+
bool sendCrc16
51+
);
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/**
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* Calculate the CRC16 checksum for the given data.
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*
56+
* data - pointer to the data buffer
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* length - length of the data buffer
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*
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* Returns the calculated CRC16 checksum.
60+
*/
61+
uint16_t v2styxlib_crc16_calculate(const uint8_t *data, BufferSize_t length);
62+
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#ifdef __cplusplus
64+
}
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#endif

‎c/l4/src/ChannelUartStm8.c‎

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#define WAIT_FOR_TXE() while (!(UART1->SR & UART1_SR_TXE))
44

5-
static inline uint16_t v2styxlib_uart_crc16_update(uint16_t crc, uint8_t data) {
6-
crc ^= (uint16_t)data << 8;
7-
for (uint8_t i = 0; i < 8; i++) {
8-
if (crc & 0x8000) {
9-
crc = (crc << 1) ^ V2STYXLIB_CRC16_POLY;
10-
} else {
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crc <<= 1;
12-
}
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}
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return crc;
15-
}
16-
17-
static uint16_t v2styxlib_uart_crc16_calculate(const uint8_t *data, BufferSize_t length) {
18-
uint16_t crc = V2STYXLIB_CRC16_INITIAL_VALUE;
19-
for (BufferSize_t i = 0; i < length; i++) {
20-
crc = v2styxlib_uart_crc16_update(crc, data[i]);
21-
}
22-
return crc;
23-
}
24-
25-
void v2styxlib_uart_configure_proto(
26-
V2styxlibUartConfig *config,
27-
bool useStreamingMode
28-
) {
29-
if (useStreamingMode) {
30-
config->config |= V2STYXLIB_STREAMING_MODE;
31-
} else {
32-
config->config &= ~V2STYXLIB_STREAMING_MODE;
33-
}
34-
}
35-
365
void v2styxlib_uart_setup(uint16_t baudRateDivider)
376
{
387
UART1->BRR2 = ((baudRateDivider >> 8) & 0xF0) | (baudRateDivider & 0x0F);
@@ -54,16 +23,20 @@ void v2styxlib_uart_send(
5423
UART1->DR = V2STYXLIB_SOF_MARKER_2;
5524
}
5625

57-
// send packet size
58-
WAIT_FOR_TXE();
59-
UART1->DR = length + 2; // +2 for CRC16
60-
61-
// then CRC16
62-
uint16_t crc = v2styxlib_uart_crc16_calculate(buffer, length);
63-
WAIT_FOR_TXE();
64-
UART1->DR = (crc >> 8) & 0xFF; // send high byte of CRC
6526
WAIT_FOR_TXE();
66-
UART1->DR = crc & 0xFF; // send low byte of CRC
27+
if (config->config & V2STYXLIB_SEND_CRC16) {
28+
// send packet size + 2 bytes for CRC16
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UART1->DR = length + 2;
30+
// then CRC16
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uint16_t crc = v2styxlib_crc16_calculate(buffer, length);
32+
WAIT_FOR_TXE();
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UART1->DR = (crc >> 8) & 0xFF; // send high byte of CRC
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WAIT_FOR_TXE();
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UART1->DR = crc & 0xFF; // send low byte of CRC
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} else {
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// send packet size
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UART1->DR = length;
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}
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6841
// then send the actual data
6942
for (BufferSize_t i = 0; i < length; i++) {

‎c/l4/src/Channel_c.c‎

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#include "Channel_c.h"
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static inline uint16_t v2styxlib_crc16_update(uint16_t crc, uint8_t data) {
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crc ^= (uint16_t)data << 8;
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for (uint8_t i = 0; i < 8; i++) {
6+
if (crc & 0x8000) {
7+
crc = (crc << 1) ^ V2STYXLIB_CRC16_POLY;
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} else {
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crc <<= 1;
10+
}
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}
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return crc;
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}
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uint16_t v2styxlib_crc16_calculate(const uint8_t *data, BufferSize_t length) {
16+
uint16_t crc = V2STYXLIB_CRC16_INITIAL_VALUE;
17+
for (BufferSize_t i = 0; i < length; i++) {
18+
crc = v2styxlib_crc16_update(crc, data[i]);
19+
}
20+
return crc;
21+
}
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23+
void v2styxlib_uart_configure_proto(
24+
V2styxlibUartConfig *config,
25+
bool useStreamingMode,
26+
bool sendCrc16
27+
) {
28+
if (useStreamingMode) {
29+
config->config |= V2STYXLIB_STREAMING_MODE;
30+
} else {
31+
config->config &= ~V2STYXLIB_STREAMING_MODE;
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}
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if (sendCrc16) {
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config->config |= V2STYXLIB_SEND_CRC16;
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} else {
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config->config &= ~V2STYXLIB_SEND_CRC16;
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}
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}

‎cpp/CMakeLists.txt‎

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1818
set(CMAKE_C_STANDARD_REQUIRED True)
1919

2020
option(USE_STD_MEMORY "Use std lib <memory>" ON)
21-
22-
# find_package(Catch2 3 REQUIRED)
23-
24-
include(FetchContent)
25-
FetchContent_Declare(
26-
Catch2
27-
GIT_REPOSITORY https://github.com/catchorg/Catch2.git
28-
GIT_TAG v3.5.3
29-
)
30-
FetchContent_MakeAvailable(Catch2)
31-
include(Catch)
21+
option(ENABLE_CATCH2 "Enable Catch2" ON)
22+
23+
if (ENABLE_CATCH2)
24+
include(FetchContent)
25+
FetchContent_Declare(
26+
Catch2
27+
GIT_REPOSITORY https://github.com/catchorg/Catch2.git
28+
GIT_TAG v3.5.3
29+
)
30+
FetchContent_MakeAvailable(Catch2)
31+
include(Catch)
32+
endif()
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3334
# For GCC and Clang compilers
3435
if(CMAKE_CXX_COMPILER_ID MATCHES "GNU|Clang")
@@ -39,6 +40,9 @@ elseif(CMAKE_CXX_COMPILER_ID STREQUAL "MSVC")
3940
add_compile_options(/we4716)
4041
endif()
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43+
add_compile_definition(BufferSize_t=uint16_t)
44+
45+
add_subdirectory(../c/l4 module/l4_c)
4246
add_subdirectory(modules/l4)
4347
add_subdirectory(modules/l5)
4448

‎cpp/modules/l4/CMakeLists.txt‎

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11
CMAKE_MINIMUM_REQUIRED(VERSION 3.22)
22

33
add_library(module_l4 STATIC)
4-
add_executable(module_l4_tests
5-
test/test_dummy.cpp)
64

75
target_sources(module_l4
86
PRIVATE
97
src/ChannelRx.cpp
108
src/ChannelTx.cpp
11-
src/impl/ClientsRepoImpl.cpp
12-
src/impl/ChannelUnixFile.cpp
139
)
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1511
target_include_directories(module_l4 PUBLIC
1612
$<INSTALL_INTERFACE:include>
1713
$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
1814
)
1915

16+
target_link_libraries(
17+
module_l4
18+
module_l4_c
19+
)
2020

2121
if (USE_STD_MEMORY)
2222
target_compile_definitions(module_l4 PRIVATE USE_STD_MEMORY)
23-
target_compile_definitions(module_l4_tests PRIVATE USE_STD_MEMORY)
23+
endif()
24+
25+
if (SUPPORT_UNIX)
26+
target_sources(module_l4
27+
PRIVATE
28+
src/impl/ClientsRepoImpl.cpp
29+
src/impl/ChannelUnixFile.cpp
30+
)
31+
endif()
32+
33+
if (SUPPORT_RP2040)
34+
target_sources(module_l4
35+
PRIVATE
36+
src/styxpico/ChannelUsbUart.cpp
37+
)
38+
target_link_libraries(module_l4
39+
pico_stdlib
40+
)
2441
endif()
2542

2643
if(CMAKE_CXX_STANDARD GREATER_EQUAL 23)
@@ -53,9 +70,23 @@ else()
5370

5471
endif()
5572

56-
target_include_directories(module_l4_tests PRIVATE ./include/)
57-
target_link_libraries(module_l4_tests PUBLIC Catch2::Catch2WithMain module_l4)
58-
59-
catch_discover_tests(module_l4_tests
60-
PROPERTIES
61-
TIMEOUT 10)
73+
if (ENABLE_CATCH2)
74+
add_executable(module_l4_tests
75+
test/test_dummy.cpp)
76+
if (USE_STD_MEMORY)
77+
target_compile_definitions(module_l4_tests PRIVATE USE_STD_MEMORY)
78+
endif()
79+
if(CMAKE_CXX_STANDARD GREATER_EQUAL 23)
80+
message("Build tests for C++23")
81+
target_sources(module_l4_tests PRIVATE
82+
test/test_ChannelUnixTcp.cpp
83+
test/test_ChannelUnixPipeImpl.cpp
84+
)
85+
endif()
86+
target_include_directories(module_l4_tests PRIVATE ./include/)
87+
target_link_libraries(module_l4_tests PUBLIC Catch2::Catch2WithMain module_l4)
88+
89+
catch_discover_tests(module_l4_tests
90+
PROPERTIES
91+
TIMEOUT 10)
92+
endif()

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